Registering objects

Abstract

Examples of methods for registering objects are described herein. In some examples, a method includes determining a set of overlap scores based on a set of orientations between a first bounding box of a three-dimensional (3D) object model and a second bounding box of a 3D scan of an object. In some examples, the method includes registering the 3D scan with the 3D object model based on the set of overlap scores.

1 . A method, comprising:
 determining a set of overlap scores based on a set of orientations between a first bounding box of a three-dimensional (3D) object model and a second bounding box of a 3D scan of an object; and   registering the 3D scan with the 3D object model based on the set of overlap scores.   
     
     
         2 . The method of  claim 1 , wherein determining the overlap scores comprises calculating an intersection ratio for each of the set of orientations. 
     
     
         3 . The method of  claim 1 , wherein the set of orientations comprises orthogonal angle rotations for an axis or axes. 
     
     
         4 . The method of  claim 1 , further comprising determining the first bounding box of the 3D object model. 
     
     
         5 . The method of  claim 1 , further comprising determining scan bounding boxes of a set of 3D scans of a set of objects. 
     
     
         6 . The method of  claim 5 , further comprising selecting the second bounding box from the scan bounding boxes based on a size or volume. 
     
     
         7 . The method of  claim 1 , wherein registering the 3D scan with the 3D object model comprises selecting a candidate orientation based on the set of overlap scores. 
     
     
         8 . The method of  claim 7 , wherein registering the 3D scan with the 3D object model comprises computing a point cloud for the candidate orientation. 
     
     
         9 . The method of  claim 8 , wherein registering the 3D scan with the 3D object model comprises performing local alignment for the candidate orientation to produce alignments. 
     
     
         10 . The method of  claim 9 , wherein registering the 3D scan with the 3D object model comprises selecting an alignment from the alignments. 
     
     
         11 . An apparatus, comprising:
 a memory;   a processor in electronic communication with the memory, wherein the processor is to:
 compare a first size of a first bounding box of a three-dimensional object model to sizes of a set of bounding boxes of scanned objects; 
 remove a bounding box from the set of bounding boxes based on the comparison; 
 orient each bounding box of the set of bounding boxes relative to the first bounding box using a set of orientations to calculate a set of overlap scores; and 
 select a candidate orientation from the set of orientations based on the set of overlap scores. 
   
     
     
         12 . The apparatus of  claim 11 , wherein the first size of the first bounding box is a first volume of the first bounding box and the sizes of the set of bounding boxes are volumes of the set of bounding boxes. 
     
     
         13 . The apparatus of  claim 12 , wherein the processor is to compare the first volume to the volumes by determining whether each of the volumes is within a threshold range of the first volume. 
     
     
         14 . A non-transitory tangible computer-readable medium storing executable code, comprising:
 code to cause a processor to perform a global registration between a first bounding box of a three-dimensional (3D) object model and a second bounding box of a 3D scan of an object using a set of orientations; and   code to cause the processor to perform a local registration of a point cloud of the object and the 3D object model based on the global registration.   
     
     
         15 . The computer-readable medium of  claim 14 , wherein the point cloud has a greater density than the 3D scan.